Article
Version 1
Preserved in Portico This version is not peer-reviewed
Space Robot Sensor Noise Amelioration Using Trajectory Shaping
and
*
Version 1
: Received: 29 November 2023 / Approved: 30 November 2023 / Online: 30 November 2023 (10:56:59 CET)
A peer-reviewed article of this Preprint also exists.
Kuck, E.; Sands, T. Space Robot Sensor Noise Amelioration Using Trajectory Shaping. Sensors 2024, 24, 666. Kuck, E.; Sands, T. Space Robot Sensor Noise Amelioration Using Trajectory Shaping. Sensors 2024, 24, 666.
Abstract
Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Whiplash compensation is additionally implemented for comparison. The control method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.
Keywords
analytic dynamics; celestial mechanics; stability, control, and synchronization; structural dynamics; equations of motion; finite element method; flexible robotics; bandpass filter; notch filter; structural filtering; trajectory generation; whiplash compensation
Subject
Engineering, Mechanical Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment
